Everysight SDK/UIKit.ar.utilities/Quaternion

Quaternion

class Quaternion(var x: Float = 0.0f, var y: Float = 0.0f, var z: Float = 0.0f, var w: Float = 0.0f)

Represents a quaternion, a mathematical concept used to represent rotations in 3D space. Quaternions are a more compact and efficient way to represent rotations compared to Euler angles.

Parameters

The x-component of the quaternion. Default is 0.

The y-component of the quaternion. Default is 0.

The z-component of the quaternion. Default is 0.

The w-component of the quaternion. Default is 0.

Constructors

Quaternion

constructor(v: FloatArray)

Creates a Quaternion from a FloatArray.

constructor(o: Quaternion)

Creates a copy of the provided Quaternion.

constructor(x: Float = 0.0f, y: Float = 0.0f, z: Float = 0.0f, w: Float = 0.0f)

Creates a Quaternion with the specified components.

Properties

isIdentity

val isIdentity: Boolean

Checks if the quaternion represents an identity rotation.

isValid

val isValid: Boolean

Checks if the quaternion is valid (non-zero).

var w: Float

The w-component of the quaternion.

var x: Float

The x-component of the quaternion.

var y: Float

The y-component of the quaternion.

var z: Float

The z-component of the quaternion.

Functions

angle

fun angle(a: Quaternion, b: Quaternion): Float

Calculates the shortest angle between two quaternions in radians.

dot

fun dot(o: Quaternion): Float

Calculates the dot product of this quaternion with another quaternion.

fromEuler

fun fromEuler(yaw: Float, pitch: Float, roll: Float)

Sets the quaternion based on Euler angles (Yaw, Pitch, Roll) in radians. Converts Euler angles to quaternion representation.

fromMat4

fun fromMat4(m: FloatArray): Quaternion

Creates a quaternion from a 4x4 rotation matrix.

fromRotationVector

fun fromRotationVector(angleRad: Float, x: Float, y: Float, z: Float): Quaternion

Creates a quaternion from a rotation vector and an angle.

getValues

fun getValues(res: FloatArray)

Gets the quaternion's components and stores them in the provided array.

identity

fun identity()

Sets the quaternion to represent the identity rotation (no rotation).

inverse

fun inverse(res: Quaternion)

Calculates the inverse of the quaternion and stores it in the provided quaternion.

fun inverse(q: Quaternion, res: Quaternion)

Calculates the inverse of the provided quaternion and stores it in the provided quaternion.

length

fun length(): Float

Calculates the length (magnitude) of the quaternion.

mul

fun mul(o: Quaternion): Quaternion

Multiplies this quaternion with another quaternion.

fun mul(q: Quaternion, o: Quaternion, res: Quaternion)

Multiplies two quaternions and stores the result in the provided quaternion.

normalize

fun normalize()

Normalizes this quaternion.

fun normalize(q: Quaternion)

Normalizes the provided quaternion and stores the result in the provided quaternion.

rotateVector

fun rotateVector(v3: FloatArray, out: FloatArray, offset: Int = 0)

fun rotateVector(x: Float, y: Float, z: Float, out: FloatArray, offset: Int = 0)

Rotates a 3D vector in eye position using this quaternion and stores the result in the provided array.

setValues

fun setValues(o: Quaternion)

Sets the quaternion's components to match those of the provided quaternion.

fun setValues(v: FloatArray)

fun setValues(x: Float, y: Float, z: Float, w: Float)

Sets the quaternion's components to the provided values.

Slerp

fun Slerp(q1: Quaternion, q2: Quaternion, alpha: Float, res: Quaternion)

Performs spherical linear interpolation (SLERP) between two quaternions.

swapRotationDirection

fun swapRotationDirection()

Swaps the rotation direction of the quaternion by negating the w-component.

toEuler

fun toEuler(): FloatArray

Convert to glasses quaternion to Yaw, Pitch, Roll in world. Note that glasses coordinates are 'right', 'up', 'back', while the world is defined by 'east', 'north', 'up'.

toMat4

fun toMat4(res: FloatArray)

Converts the quaternion to a 4x4 rotation matrix and stores it in the provided array.

toRotationVector

fun toRotationVector(vec: FloatArray)

Converts the quaternion to a rotation vector x, y, z, angle.

toString

open override fun toString(): String

zero

fun zero()

Sets all components of the quaternion to zero.